Directional stabilizing apparatus for aerial or marine craft



March 9, 193 7.

J. FIEUX I DIRECTIONAL STABILIZING APPARATUS FOR AERIAL OR MARINE CRAFT Filed 001;. 5, 1934 3 Sheets-She 1 nvenl'or fem L 551mm Gama/Law, Wf/M J. FIEUX 2,073,203

DIRECTIONAL STABILIZING APPARATUS FOR AERIAL OR MARINE CRAFT Marh 9, 1937.

Filed Oct 5, 1954 3 Sheets-Sheet 2 llll,

M h 9, 1937. J, FIEUX 2,073,203

DIRECTIONAL STABILIiING APPARATUS FOR AERIAL OR'MARINE CRAFT Filed Oct. 5, 1934 3 Sheets-Sheet 3 E9. 4. I l5 5 5! 45 n Ca/muwn, Mam /m Patented Mar. 9, 1937 UNITED STATES DIRECTIONAL STABILIZING APPARATUS FoR AERIAL R MARINE cRAE'r Jean Fieux, Paris, France, assignor of one-half to Schneider & Cie, Paris, France, a company of France Application 0mm 5, 1934, Serial No. 747,087 In France December 1, 1933 14 Claims. (01. 114-144 The present invention relates to a device of the type comprising the combination between a gyroscopic direction mark and a servo-motor acting on the rudder and permitting the holding to a predetermined course on board aircraft, vedettes, and other craft. The apparatus according to the invention furthermore permits the instantaneous reading of the mean course and the rapid determination of the drift,- consequently facilitating the appreciation of the corrections to be made in directing the course.

The invention is characterized in principle by the following means, the combination of which is necessary in order to obtain the complete desired result:

' 1. A particular and novel means and method for supplying to the servo-motor the fluid actuating the control surfaces, this method of dis- .tribution ensuring proper stability of the course.

2. Means utilized to cause in the gyroscope the compensating actions which are necessary to permit it to preserve indefinitely in practice a direction of reference, and means for modifying this direction of reference when it is desired to correct the course to be held.

3. The possible utilization of the member of reference, combined with the particular system of distribution and connectedto the special correcting devices above mentioned, as a support for 3 or as a directional stabilizer of certain apparatus on board such as compass bowls, mirrors, alidades, etc.

The gyrcscopic system of reference may be similar in its essential members to the well- 3 known system utilized for the direction of torpedoes; it comprises a horizontal axis rotor, actuated by a jet of air and rotating in a horizontal frame, said frame being suspended in a vertical frame itself pivoting about a vertical axis in a :upport integral with the vessel to be directed.

By its displacement with respect to the support, this vertical frame which operates by positive connection in known manner a first distributor or valve for the fluid actuating the servo- 45 TIlOtOI', as in the auto-directing mechanism of torpedoes, also controls, in the present invention, the position of a second distributor or valve mechanism through the intermediation of a friction transmission. If the operation of the first distributor depends in known manner on the instantaneous error in the course, the operation of the second takes place with the changes in the directional sense of the vessel occurring at the end of the sheers or yaws, that is, the second 55 distributor or valve mechanism is responsive to the changes in the direction of swing of the vessels head which occur at the ends of the sheers or yaws at which times the deviation from the desired course is a maximum: The two distributors are arranged in series, and thereby regu- 5 late the supply of motive fluidto the servo-motor actuating the rudder in such manner that the admission duct is open and the exhaust duct is closed as soon as the vessel departs from its mean position or set course, and during the whole time 10 that this deflection increases; and that, on the contrary, the admission duct is closed and the exhaust duct is opened as soon as the return toward the mean position has commenced. Under these conditions, the combination oi the two 15 means of distribution has the efl'ect ofv opposing deviations which have commenced and of permitting the production, after the yaw, of a return 'at slow speed towards the mean position, in order to avoid the commencement of a fresh 20 yaw in the opposite direction, in other words, to prevent the well-known oscillations which occur in automatically controlled devices of this character previously known, particularly the steering mechanism of submarine torpedoes. 25 To compensate for the disturbing action on. the gyroscope resulting in particular from the operation of the two systems of fluid distribution to the servo-motor, means are provided ensuring indefinitely asufilcient flxity to the gyroscopic 3 course mark. To this end, there are applied, about each of the suspension axes of the gyroscope, couples producing return precessions to the theoretical position of reference.

About the vertical axis this couple is determined by. the jet of air. from a nozzle, integral with the support, which exerts a thrust on a palette integral with the horizontal frame of the gyroscope, the plane of which palette is substantially vertical. According as the axis of the rotor dips more or less, that is to say, is more or less inclined to the horizontal, the palette intercepts a greater or lesser portion of the air Jet, thereby varying the thrust against said palette and causing a more or less rapid precessional movement in the vertical plane; the action of the jet is regulated in such manner that it is counterbalanced by the thrust of a spring interposed between the vertical frame of the gyroscope and the support when the axis of the rotor is in a practically horizontal position.

In order to produce, in the horizontal plane,

the return precession of the rotor towards the theoretical position of reference, there is applied sary couple by means of frictionally produced forces.

These forces may be produced, for example, by a system of rubbing push pieces carried on the support and exerting an adjustable pressure on the rotor, the latter offering, to this end, a spherical surface the centre of which coincides substantially with the point of intersection of the axes of suspension of the gyroscope, the points or zones of frictional contact being located substantially at the level of the said point.

The gyroscopic mark being ensured of a sufficient fixity by the means in principle just described, it is possible to take advantage of this fixity to automatically stabilize, in direction, certain control and observation devices, and in particular the apparatus serving to determine the drift by seeking a constant point of bearing.

To this end, the vertical frame of the gyroscope includes means of direct or indirect connection with the members to be stabilized (alidade, compass bowl, etc.).

The accompanying drawings represent by way, of example a practical construction and method for carrying out the invention particularly with respect to its use on board an aircraft.

a Figure 1 is an external front view of an improved gyroscopic device according to the invention;

Figure 2 is a section along the line 2-2 of Figure l;

Figure 3 is a developed section of the whole distribution to the servo-motor, taken substantially along the line 3-3 of Figure 2;

Figure 4 is amexternal'plan view with partial section along the line 4-4 of Figure 1;

Figure 5 is a section of the rotor and of the horizontal frame along the line H of Figure 4:

Figure 6 is a partial section along the line 6-4 40 of Figure 2; and

Figure 'I is an external plan view of the mechanism connecting the apparatus to the control lever of the aircraft rudder.

The rotor l of a gyroscope, the velocity of 45 which is in known manner maintained by an air jet discharged through a nozzle I against buckets formed in the periphery of the rotor, is carried by the horizontal frame 2," which is itself carried by the vertical frame 2, these two frames pivoting one on the other about an axis perpendicular to the axis of the rotor; the horizontal frame carries the usual equilibrium nuts 4, and, according to the invention, a palette or plate I by the intermediation of a spherical screen i, the s5 upper edge of the palette being substantially in the prolongation of the axis of the rotor.

The vertical frame 2 which carricsthe nozzle lcanoscillateonthesupporttfixedtothehull or to the cowling of the vessel to be directed, about the line of the journals I and II integral with the said support; the upper journal I servingassupplypipefortheairwhichthen escapes through the nolle I.

Onthcverticalframe,thereishinged,ona horizontal axis perpendicular to the axis of suspensionof thehorisontal frame,annger ll c'arryingatone end-an equiiibrluni mass l2 and engaging atits opposite end in a recess in the usual cylindrical slide v the supply and exhaust ofthe motive fluid to and from the servo-motor. The vertical frame 2 is. I

furthermore, and according to the invention integral'with a friction palette or plate II in contact with a rubbing push piece ll which is per- 75 manent thrust against said pallettc ll by a spring valve II which controls it which bears on a finger l1 integral with an annular frame or balance beam is. The latter can osciil?te on the frame s about the line of the journals 8 and 2|! integral with the said support, this line of journals being parallel to the axis of suspension of the horizontal frame. The frame It carries two arms 2| and 22, the ends of which engage in recesses in the cylindrical slide valves 23 and 24, respectively, forming the secondary distributing mechanism previously mentioned.-

' The vertical frame 3 also carries the seat 25 of a spring 26 the other end 'of which rests on the support 8.

A fork lever 28, the branches of which carry respectively the flexiblerubbing fingers 29 and 30, is mounted for oscillation about a vertical stubshaft 21 integral with the support 8. This fork lever is integral with a toothed sector 3i engaging in an endless screw 32 integral with a control button or handle 38, this endless screw being also carried by the frame 8. 0n the latter is also pivoted a rocking lever 34 integral with two rigid rubbing fingers II and 36 and two push rods 31 and 28, the latter carrying spring buttons 29 and ll arranged within reach of the pilot.

The frame 8 opens out into a cylinder ll closed by ends l2 and 42 and in whichmoves the piston 44 carrying the rods 45 and it.

The distribution or supply of the driving fluid to one or the other face of the piston M is ef-' fected through symmetrical conduits formed in the frame 8. The conduits 41 and u serve for the admission to, while the conduits and 50, SI and I2,- serve for the exhaust from, one face of said piston. The other face of the piston is served by the symmetrically arranged admission conduits 41', 48', as and the exhaust conduitsll'. II, II, 52'. The conduits 52 and I! serve both for admission and exhaust. The frame 8 also carries the horizontal nozzle ll located at alevel with the point of intersection of the axes of suspension of the rotor, the jet of which is directed on to the palette U.

The vertical frame 3 of the gyroscope carries on top thereof, by means of the small pedestals II and l, a plate 51 serving as the circular support for an alidade 58. The frame 3 may also carry a lever ss, integral therewith and projecting from the side thereof, having a hinge eye "intended to receive the coupling pin of a connecting rod I which may be utilized to stabilize any desired element of navigational apparatus,

such as a compass bowl.

The piston rods and it of the servo-motor carry respectively the seats 2 and 03 (Figure '1) ofsprings M and l! which themselves bear on the ends 42 and I! of the cylinder II. The rod I! is hinged to a connecting rod '6, itself hinged to a rocking bar 01 pivoted on the hull or the cowling on a vertical axis I; this rocking bar is connected, on the other hand, through a coupling rod Is, to a lever ll integral with a rocking lever 1| actuating the rudder of the aircraft or other vessel.

The frame I being made integral with the hull or the cowling I2 of the vessel to be directed, in such manner that the centre plane of the vertical frame 3 is normally substantially parallel to the longitudinal axis of the said hull or cowling, and the nozzles 9, l1, l1 and 54 being supplied permanently by air under pressure, the device operates as hereafter described.

The rotor having imparted to it a rapid movement of rotation about its axis, under the conor plate 14.

10 lhe secondary slide valve 24 being moved back-- ward or outward (actually in a downward direction as indicated in Figure 1) due to the tilting of frame or beam l8 caused by the effect of the friction between the push piece l5 and the palette The air thus freely reaches the'face of the piston 44 corresponding to the rod. 46, moves said piston to the left and, through the transmission previously described, puts the rudder or other controlling surface over to the left so as to return the vessel to its proper course. During this period, the primary slide valve l3 places the other face of the piston in communication with the atmosphere both through the ducts 52 and 5| and through the conduits 53, 49 and 50, the secondary slide valve 23 being moved in the contrary direction to the movement of the slide valve 24.

Under the eifect of the controlling surface which is thus shifted by the movement of the piston of the servo-motor, the yaw of the vessel reaches its end, at which instant the bow of the vessel attains its maximum deviation from the established course. The movement of the vessel about its vertical axis then changes in direction and immediately produces a reversal in the direction of inclination of frame l8 since the direction of movement of palette l4 relative to the end of friction piece I5 on which it rubs is also reversed. This action of frame l8 in turn reverses the position of slide valves 23 and 24, the valve I50 closing the exhaust conduit 53, which produces no result on the fluid distribution, since the conduits 52 and 5| remain in communication by virtue of the fact that the main slide valve I3 is still to the left of its mean position. Owing to the movement of the valve 24, however the admission of fluid is interrupted between the conduits 41 and 48, while at the same time an opening to exhaust is effected, the conduits 49 and 50' being 50 placed in communication one with the other.

The result of this operation is that, during the return of the vessel toward the position of reference or basic course, the compressed air acting on the side of the piston corresponding to the rod 46 escapes all the more rapidly the greater the exhaust section presented by the conduit system 53'-49-50. Since the motive effect on the controlling surfaces or rudder thus diminishes well before the return to the mean position, the

0 vessel only possesses a small angular speed at the moment of passing through this position, which, as is known, is favourable to the reduction, that is to say, to the damping, of the yawing movements, and which permits in consequence the practical suppression of the periodic oscillations of the course followed. By reason of symmetry, 'the same result would be attained if the deviation of the vessel commenced towards the left of the position of reference.

The case may be presumed where the angular speed of the vessel would be nullified before arriving at the position of reference. It is then easily understood that the thrusts of the surrounding medium either slowly bring the vessel to the basic direction or deviate it further therefrom. In this latter case, the slide valves 23 and 24 operate immediately in the manner previously described, permitting the rapid admission of fluid to the face of the piston on which the exhaust had operated too rapidly, and a fresh lmpulse on. the vessel is again produced in the proper direction.

Thus, in any case the vessel will again pass through its mean position and at a speed much lower than that which it would have had if the distribution of fluid to the servo-motor had been controlled entirely by the simple action of the usual slide valve l3.

In practice, there may be usefully arranged on the outlet-orifices 50 and 50' pressure loss needles or cocks to exactly regulate the direction of the emptying of the motive fluid by the rapidity of the discharge; on the other hand, there may be provided pressure losscocks or needles on the admission orifices 41 and 41' to reduce to a minimum the consumption of air according to circumstances.

It should be noted that the piston 44 tends, in its turn, to return naturally to its mean position, being brought back to this position by theaction of the rudder combined preferably with the action of the springs 64 and 55.-

When there is noted a slow deviation from the plane of reference, due to improper precessions of the gyroscope, always resulting from certain couples which occur about the horizontal suspension, one or the other of the push buttons- 39 or 40 are operated, according to the case, to press the corresponding rubbing fingers 35 or 36 on the spherical part of the rotor. The resulting friction gives rise to a couple which tends to rotate the horizontal frame about the horizontal axis of suspension, but which actually causes the vertical frame to rotate about the vertical axis of suspension, which has the effect of modifying the position of reference; the displacement of this positiom ceases as soon as the action on the ,push button ceases. If the deviation from the plane of reference is produced always in the same direction and if it is necessary in consequence to act intermittently on one or the other of the push buttons, it will be advisable to bring about a continuous correction. As shown, this is effected by micrometric adjustment of handle 33 which, through screw 32 and toothed sector 3|, varies the differential pressure exerted by the flexible rubbing fingers 29 and 30 on the rotor. This pressure being thus regulated experimentally after a certain period of navigation, the appa-.

ratus will only require an occasional supervision.

The displacement of the horizontal frame 2 with respect tov the vertical frame 3 may also be considered. To prevent such a displacement developing beyond a certain limit at which the fixity of the vertical frame would itself be jeopardized, the antagonistic action of the jet of air emanating from the nozzle 54, more or less intercepted by the palette 5, may be relied upon( It may, in fact, be noted that if the improper inclination taken up by. the horizontal frame is such that the palette 5 rises above its mean position, this palette receives a thrust greater than the tension of the spring 26, account'being taken of the arms of the levers; there results a couple about the horizontal axis which has the effect of causing a vertical precession about the said axis, thus resulting in the desired raising of horizontal frame 2, this precession ceasing as soon as equilibrium is restored between the action of the spring and the action of the jet. Reciprocally, if the gyroscope inclines downwards on the side of the palette, the action of the spring is momentarily stronger than the action of the .let of air on the palette and again produces the rais- 5 ing of the horizontal frame in a desired direction.

As regards the utilization of the vertical frame 3 as a stabilizing member of navigation apparatus, it is evident that an important advantage may be derived from the device described above by suppressing the inconveniences of a bad stability of the course, in seeking a point having a constant bearing, and during the determination of the mean course.

To this end, the plate I1 which is flxed with respect to vertical frame 8 is suitably graduated about its periphery, while the plate I! which is rotatable with respect to plate 51 carries a-mark; these graduations, not shown on the drawings, indicate in a permanent manner the value of the bearing of the point found.

On the other hand, the directing line of the compass being stabilized at the same time as the bowl, by the coupling rod 0|, the mean course is also indicated in a permanent manner by the rose. Thus, there are eliminated the concomitant variations of the two terms the difference of which expresses the drift, and which normally make the determination of the drift particularly laborious and uncertain.

drawings, it will be obvious that the invention is not limited to the exact structure shown but is Various changes; which will now suggest themselves to those skilled in the art, may be made in the form, details of construction and arrangement of the parts without departing from the spirit of the invention. Reference is therefore to 40 be had to the appended claims for a definition of the limits of the invention.

What is claimed is: I v

1. ln a directional stabilizing device for an aerial or marine vessel of the type wherein a gy- 4 roscope controls the distribution of a motive fluid to and from a servo-motor connected to the rudder of said vessel so as to move said rudder from its normal position in such direction as to bring said vessel back to its desired course whenever said vessel deviates from that course and. wherein the plane of the vertical frame of the gyroscope represents the desired course, the combination of primary distributing means controlling the supply and exhaust of motive fluid to and from d servo-motor, means carried by the vertical frame of said gyroscope for operating said primary distributing means, the movements of said primary distributing means from its neutral position being in direct relation to the movements of said vessel relatively tothe plane of said vertical frame of the gyroscope which represents the desired course, supplemental distributing means adapted to modify the control exercised by said primaw distributing means upon the operation of said servo-motor, and means responsive to each change inthe direction of movement of said vessel relatively to the plane of said vertical frame for operating said supplemental distributing means.

2. In a directional stabilizing device for an serial or marine vessel of the type wherein a gyroscope controls the distribution of a motive fluid to andfrom a servo-motor connected to the rudder of said vessel so as to movesaid rudder from its normal position in such direction as to bring While but one form of the invention has been capable of a variety of mechanical embodiments.

said vessel back to its desired course whenever said vessel deviates from that course and wherein the plane of the vertical frame of the gyroscope represents the desired course, the combination of primary valve means controlling the supply and exhaust of motive fluid to and-from said servo-motor, means carried by the vertical frame of said gyroscope for operating said primary valve means, the movements of said primary valve means from its neutral position ,be-

ing in direct relation to the movements of said vessel relatively to the plane of said vertical frame of the gyroscope which represents the desired course, supplemental valve means in series with and adapted to modify the control exercised by said primary valve means upon the operation of said servo-motor, and means responsive to each change in the direction of movement of said vessel relatively to the plane of said vertical frame for operating said supplemental valve means, said last named operating means being so constructed and arranged that each such change in the direction of movement of said vessel effects a reversal in the position of said supplemental valve means with respect to the neutral position thereof. L

3. In a directional stabilizing device for an aerial or marine vessel of the type wherein a gyroscope controls the distribution of a motive fluid to and from a servo-motor connected to the rudder of said vessel so as 'to move said rudder from its normal position in such direction as to bring said vessel back to its desired course whenever said vessel deviates from that course and wherein the plane of the vertical frame of the gyroscope represents the desired course, the combination of a main slide valve controlling the supply and exhaust of motive fluid to and from both ends of said servo-motor, means carried by the vertical frame of said gyroscope for operatins said main valve, the movements of said main valve from its neutral position being in direct relation to the movements of said vessel relatively to the plane of said vertical frame of the gyroscope which represents the desired course. a pair of supplemental slide valves arranged in series with said main valve in the supply and exhaust conduits associated with the respective ends of the servo-motor and adapted to modify the control exercised by said main valve upon the operation of said servo-motor,- and means responsive to each change in the direction of movement of said vessel relatively to the plane of saidvertical frame for operating said supplemental valves, said last named operating means being so constructed and arranged that each such change in the direction of movement of said vessel effects a reversal in the positions ofsaid supplemental valves with respect to the neutral positions thereof.

4. In a directional stabilizing device for an aerial or marine vessel of the type wherein a gyroscope controls the distribution of a motive fluid to and from a servo-motor connected to the rudder of said vessel so as to move said rudder from its normal positionin such direction as to bring said vessel back to its desired course whenever said vessel deviates from that course and wherein the plane of the vertical frame of the gyroscope represents the desired course. the combination of primary distributing means controlling the supply of exhaust of motive fluid to and from said servo-motor, means carried by the vertical frame of said gyroscopefor operating said primary distributor means, the movements of said primary distributing means from its neutral position being in direct relation to the movements of said vessel relatively to the plane of said vertical frame of the gyroscope which represents the desired course, supplemental distributing means adapted to modify the control exercised by said primary distributing means upon the operation of said servo-motor, and means responsive to each change in the direction of movement of said vessel relatively to the plane of said vertical frame for operating said supplemental distributing means, said last 'named operating means including a member pivotally mounted upon a fixed portion of the hull of said vessel and having rubbing frictional contact with a portion of the vertical frame of the gyroscope, and means for moving said supplemental distributing means in accordance with the movements of said member about its pivotal axis.

5. In a directional stabilizing device for an aerial or marine vessel of the type wherein a gyroscope controls the distribution of a motive fluid to and from a servo motor connected to the rudder of said vessel so as to move said rudder from its normal position in such direction as to bring said vessel back to its desired course when ever said vessel deviates from that course and wherein the plane of the vertical frameof the gyroscope represents the desired course, the combination of primary distributing means controlling the supply and exhaust of motive fluid to and from said servo-motor, means carried by the vertical frame of said gyroscope for operating said primary distributor means, the movements of said primary distributing means from its neutral position being in direct relation to the movements of said vessel relatively to the plane of said vertical frame of the gyroscope which represents the desired course, supplemental distributing means adapted to modify the control exercised by said primary distributing means upon the operation of said servo-motor, and means responsive to each change in the direction of movement of said vessel relatively to the plane of said vertical frame for operating said supplemental distributing means, said last named operating means including a plate carried by the vertical frame of the gyroscope, a member pivotally mounted on a fixed portion of the hull of said vessel, said member carrying an element which is continuously and yieldingly urged into rubbing frictional contact with said plate, and means for moving said supplemental distributing means in accordance with the movements of said member about its pivotal axis.

6. In a directional stabilizing device for an aerial or marine vessel of the type wherein a gyroscope controls the distribution of a motive fluid to and from a servo-motor connected to the rudder of said vessel so as to move said rudder from its normal position in such direction as to bring said vessel back to its desired course whenever "said vessel deviates from that course tical frame of the gyroscope, a balance beam piv-' otally mounted on a flxed portion of the hull of said vessel, 9. member carried by said balance beam in a position substantially perpendicular to and coplanar with the pivotal axis of said beam, the end of said member being in rubbing frictional contact withsaid plate, and means connecting the arms of said beam to said supplemental distributing means, whereby the latter are moved in accordance with the movements of said beam about its pivotal axis.

7. In a directional stabilizing device for an aerial or marine vessel of the type wherein a gyroscope controls the distribution of a motive fluid to and from a servo-motorconnected to the rudder of said vessel so as to move said rudder from its normal position in such direction as to bring said vessel back to its desired course whenever said vessel deviates from that course and wherein the plane of the vertical frame of the gyroscope represents the desired course, the combination of a main slide valve controlling the supply and exhaust of motive fluid to and from both ends of said servo-motor, means carried by the vertical frame of said gyroscope for operating said main valve, the movements of said main valve from its neutral position being in direct relation to the movements of said vessel relatively to the plane of said vertical frame of the gyroscope which rep resents the desired course, a pair of supplemental slide valves'arranged in series with said main valve in the supply and exhaust conduits associated with the respective ends of the servo-motor and adapted to modify the control exercised by said main valve uponthe operation of said servomotor, and means responsive to each change in beam pivotally mounted on a fixed portion of the hull of said vessel for movement about an axis parallel to the fore-and-aft axis of the vessel,

a finger projecting upwardly from said beam in a position substantially perpendicular to and coplanar with the pivotal axis of said beam, the

upper end of said ilnger carrying an element which is continuously and yieldingly urged into rubbing frictional contact with said plate, and means connecting the arms of said beam to said supplemental slide valves, whereby each change in the direction of movement of said vessel relatively to the plane of said vertical frame of the gyroscope effects a reversal in positions of said supplemental valves with respect to the neutral positions thereof.

8. A direction stabilizing device'according to,

claim 1 including an element of navigational apparatus which is to be stabilized in the same direction as said vessel, and means connecting'the vertical frame of said gyroscope with said element for maintaining the latter in the same position-in space as is occupied by said frame. v

9. A directional stabilizing device according to claim 1 including an element of navigational apparatus which is to be stabilized in the same direction as said vessel, and means carried by the vertical frame of said gyroscope for supporting said element thereon. 10. A directional stabilizing device according to claim 1 including means for compensating for undesired precessions of the gyroscope from the position thereof corresponding to the desired course resulting fromthe operation of said primary and supplemental distributing means and for changing said course comprising a spherical surface formed on the gyroscope rotor symmetrical with respect to the axis of rotation thereof, the center of curvature of said surface being substantially co-incident 15 with the intersection of the two axes of suspension of the gyroscope, a pair of rubbing fingers mounted in symmetrical positions with respect to and adapted to frictionally contact with said spherical surface of the rotor, and manually operable means ,frictional pressure against said spherical surface, thereby giving rise to a couple which causes-precession of the gyroscope moving it to its desired position. r

11. A directional stabilizing device according to claim 1 including means for compensating for an desired precessions of the gyroscope from the position thereof corresponding to the desired course and for changing said course resulting from the operation of said primary and supplemental distributing means comprising a spherical surface formed on the gyroscope rotor symmetrical with respect to the axis of rotation thereof, the center of curvature of said surface being sub stantiailycoincident with the intersection of the two axes of suspension of the gyroscope, a pair of relatively rigid rubbing fingers mounted in symmetrical positions on opposite sides of the vertical plane through the horizontal axis of suspension of the gyroscope. and normally out of contact with said spherical surface of the rotor, and manually operable means for temporarily moving one or the other of said fingers into frictional contact with said spherical surface, ,the resulting fric- 45 tion giving rise to a couple which causes precession of the gyroscope about its vertical axis of suspension.

12. A directional stabilizing device according to claim 1 including means for compensating for un- 7 so desired precessioais of the gyroscope from the position thereof corresponding to the desired course and for changing said course resulting from the operation of said primary and supplemental distributing means comprising a spherical surface 55 formed on the gyroscope rotor symmetrical with respect to the axis of rotation thereof, the center of curvature of said surface being substantially coincident with the intersection of the two axes of suspension of the gyroscope, a pair of relatively w flexible rubbing fingers mounted in symmetrical positions on opposite sides of the vertical plane through the horizontal axis of suspension of thegyroscopeandnormaiiyincontactwithsaid mhericalsurfaceoftherotonandmanualiyoper for causing said fingers to exert'an'unbalanced able means for regulating the differential frictional pressure exerted by said fingers against said spherical surface, thereby giving rise to a couple which causes precession of the gyroscope about'xits vertical axis of suspension.

13. A directional stabilizing device according to claim 1 including 'means for compensating for undesired movements of the axis of the gyroscope rotor out of a horizontal position resulting from the operation of said primary and supplemental ancing the force of said jet, any inclination of the rotor axis with respect to the horizontal resulting in a greater or less area of said plate exposed .to said jet and a consequent unbalance of said forces, whereupon the tendency to rotate the gyroscope about its vertical suspension axis produces a precession about its horizontal suspension axis so as to return the rotor axis to a horizontal position.

14. A directional stabilizing device according to claim 1 including means for compensating'for undesired movements of the axis of the gyroscope rotor out of a horizontal position resulting from the operation of said primary and supplemental distributing means comprising a vertical plate carried by the horizontal frame of the gyroscope, the top edge of said plate being substantially coplanar with the rotor axis, a nozzle mounted in a fixed position with respect tozthe hull of the vessel, the axis of said nozzle being normally substantially coplanar with and perpendicular to said top edge of said plate, means for supplying a fluid under pressure to said nozzle so as to direct a jet of fluid against said plate, thereby tending to rotate the horizontal and vertical frames of the gyroscope about its vertical axis of suspension in orfe direction, and a spring interposed between said vertical frame andn surface fixed with respect to the hull of the vessel, said spring being so constructed and arranged as to tend to rotate the gyroscope frames in a direction opposite to said jet but with such force as to normally exactly balance the force of said Jet against said plate, any inclination of therotor axis with respect to the horizontal resulting in a greater or less area of said plate exposed to'said jet and a consequent unbalance of said forces, whereupon the tendency to rotate the gyroscope frames about the vertical suspension axis produces a precession abouihtlaie horizontal suspension axis so as to re-- turn rotor axis to .a horizontal position. 

